SlowGuess/NeurIPS_2023_OCR huggingface dataset:
Table 35: ReBRAC ablations for walker2d tasks. We report final normalized score averaged over 4 unseen training seeds.
Ablation	random	medium	expert	medium-expert	medium-replay	full-replay	Average
TD3+BC, paper	1.6 ± 1.7	83.7 ± 2.1	110.2 ± 0.3	110.1 ± 0.5	81.8 ± 5.5	-	-
TD3+BC, our	4.5 ± 2.2	77.1 ± 1.9	109.1 ± 0.5	108.9 ± 0.3	50.9 ± 13.7	86.7 ± 5.1	72.8
TD3+BC, tuned	4.5 ± 2.2 (-78.8%)	77.1 ± 1.9 (-5.5%)	110.1 ± 0.1 (-2.0%)	110.2 ± 0.7 (-1.3%)	58.8 ± 28.5 (-22.2%)	89.4 ± 8.2 (-13.0%)	75.0 (-10.9%)
ReBRAC w/o LN	1.3 ± 1.5 (-93.9%)	84.3 ± 2.5 (+3.3%)	8.3 ± 3.1 (-92.6%)	52.7 ± 53.9 (-52.8%)	78.9 ± 8.4 (+4.4%)	61.1 ± 46.6 (-40.6%)	47.7 (-43.3%)
ReBRAC w/o layer	11.4 ± 11.9 (-46.5%)	86.2 ± 0.9 (+5.6%)	112.1 ± 0.1 (-0.2%)	111.9 ± 0.2 (+0.2%)	83.9 ± 5.4 (+11.0%)	101.8 ± 0.9 (-1.0%)	84.5 (+0.4%)
ReBRAC w/o actor penalty	1.1 ± 0.9 (-94.8%)	1.7 ± 2.1 (-97.9%)	0.9 ± 1.1 (-99.2%)	0.8 ± 1.3 (-99.3%)	8.9 ± 5.7 (-88.2%)	64.2 ± 29.5 (-37.5%)	12.9 (-84.7%)
ReBRAC w/o critic penalty	19.8 ± 3.6 (-7.0%)	81.6 ± 9.2 (0.0%)	112.0 ± 0.1 (-0.3%)	111.6 ± 0.3 (-0.1%)	87.0 ± 4.5 (+15.1%)	103.5 ± 1.5 (+0.7%)	85.9 (+2.0%)
ReBRAC w/o large batch	5.6 ± 0.2 (-73.7%)	84.8 ± 1.0 (+3.9%)	112.2 ± 0.2 (-0.1%)	110.9 ± 0.2 (-0.7%)	71.7 ± 20.2 (-5.2%)	97.7 ± 5.8 (-5.0%)	80.4 (-4.5%)
ReBRAC	21.3 ± 0.8	81.6 ± 3.9	112.3 ± 0.0	111.7 ± 0.3	75.6±10.3	102.8±0.9	84.2
Table 36: ReBRAC ablations for AntMaze tasks. We report final normalized score averaged over 4 unseen training seeds.
Ablation	umaze	umaze-diverse	medium-play	medium-diverse	large-play	large-diverse	Average
TD3+BC, paper	78.6	71.4	10.6	3.0	0.2	0.0	27.3
TD3+BC, our	62.0 ± 2.4	48.0 ± 11.6	0.0 ± 0.0	0.5 ± 1	0.0 ± 0.0	0.5 ± 0.5	18.5
TD3+BC, tuned	62.0 ± 2.4 (-36.8%)	48.0 ± 11.6 (-42.9%)	39.0 ± 21.7 (-54.8%)	18.5 ± 17.7 (-72.1%)	0.2 ± 0.5 (-99.6%)	0.0 ± 1.0 (-100.0%)	27.9 (-62.9%)
ReBRAC w/o γ change	0.0 ± 0.0 (-100.0%)	90.7 ± 3.2 (+7.7%)	1.0 ± 0.0 (-98.8%)	0.2 ± 0.5 (-99.7%)	19.3 ± 18.5 (-58.0%)	15.0 ± 8.0 (-79.0%)	21.0 (-72.1%)
ReBRAC w/o LN	0.0 ± 0.0 (-100%)	0.0 ± 0.0 (-100%)	0.0 ± 0.0 (-100%)	0.0 ± 0.0 (-100%)	0.0 ± 0.0 (-100%)	0.0 ± 0.0 (-100%)	0.0 (-100%)
ReBRAC w/o layer	31.0 ± 45.4 (-68.4%)	61.7 ± 25.3 (-26.7%)	0.0 ± 0.0 (-100.0%)	16.0 ± 32.0 (-75.8%)	0.0 ± 0.0 (-100.0%)	0.0 ± 0.0 (-100.0%)	18.1 (-76.0%)
ReBRAC w/o actor penalty	1.0 ± 1.1 (-99.0%)	0.0 ± 0.0 (-100%)	0.0 ± 0.0 (-100%)	0.0 ± 0.0 (-100%)	0.0 ± 0.0 (-100%)	0.0 ± 0.0 (-100%)	0.1 (-99.9%)
ReBRAC w/o critic penalty	98.2 ± 1.5 (0.0%)	78.0 ± 26.3 (7.4%)	86.2 ± 2.6 (0.0%)	57.5 ± 24.2 (13.1%)	56.7 ± 32.9 (23.3%)	57.0 ± 16.4 (20.3%)	72.2 (-4.1%)
ReBRAC w large batch	60.7 ± 31.3 (-38.2%)	68.5 ± 17.9 (-18.6%)	43.9 ± 49.9 (-49.1%)	34.0 ± 40.6 (-48.6%)	39.2 ± 45.9 (-14.8%)	0.0 ± 0.0 (-100.0%)	41.0 (-45.6%)
ReBRAC	98.2 ± 0.9	84.2 ± 18.5	86.2 ± 4.7	66.2 ± 16.3	46.0 ± 40.0	71.5 ± 12.3	75.3
Table 37: ReBRAC ablations for pen tasks. We report final normalized score averaged over 4 unseen training seeds.
Ablation	human	cloned	expert	Average
TD3+BC, paper	0.0	0.0	0.3	0.0
TD3+BC, our	65.9 ± 24.6	78.1 ± 5.7	144.9 ± 7.5	96.3
TD3+BC, tuned	77.6 ± 18.5 (-23.9%)	78.1 ± 5.7 (-8.5%)	144.9 ± 7.5 (-10.3%)	100.2 (-12.5%)
ReBRAC w/o LN	78.6 ± 14.8 (-22.9%)	21.3 ± 11.0 (-75.1%)	86.7 ± 59.8 (-44.6%)	62.1 (-45.8%)
ReBRAC w/o layer	89.1 ± 14.7 (-12.6%)	106.7 ± 13.9 (+24.9%)	147.2 ± 5.7 (-6.0%)	114.3 (-0.3%)
ReBRAC w/o actor penalty	-0.5 ± 1.3 (-100.5%)	0.6 ± 1.6 (-99.3%)	0.0 ± 3.6 (-100.0%)	0.0 (-100.0%)
ReBRAC w/o critic penalty	99.9 ± 6.1 (-2.1%)	75.0 ± 16.7 (-12.2%)	154.6 ± 1.8 (-1.3%)	109.8 (-4.2%)
ReBRAC w large batch	67.2 ± 9.0 (-34.1%)	83.2 ± 23.3 (-2.6%)	155.0 ± 6.8 (-1.0%)	101.8 (-11.2%)
ReBRAC	102.0 ± 10.8	85.4 ± 24.2	156.6 ± 1.4	114.6
Table 38: ReBRAC ablations for door tasks. We report final normalized score averaged over 4 unseen training seeds.
Ablation	human	cloned	expert	Average
TD3+BC, paper	0.0	0.0	0.0	0.0
TD3+BC, our	0.0 ± 0.1	0.4 ± 1.0	102.5 ± 2.9	34.3
TD3+BC, tuned	0.0 ± 0.1 (-)	0.4 ± 1.0 (+100.0%)	105.8 ± 0.3 (+0.8%)	35.4 (+1.1%)
ReBRAC w/o LN	-0.1 ± 0.0 (-)	-0.3 ± 0.0 (-250.0%)	106.0 ± 0.8 (+1.0%)	35.1 (+0.3%)
ReBRAC w/o layer	0.0 ± 0.0 (-)	0.1 ± 0.5 (-50.0%)	104.4 ± 2.3 (-0.5%)	34.8 (-0.6%)
ReBRAC w/o actor penalty	-0.1 ± 0.1 (-)	0.0 ± 0.0 (-100.0%)	0.0 ± 0.2 (-100.0%)	0.0 (-100.0%)
ReBRAC w/o critic penalty	0.0 ± 0.0 (-)	0.1 ± 0.0 (-50.0%)	106.1 ± 0.3 (+1.1%)	35.4 (+1.1%)
ReBRAC w large batch	-0.1 ± 0.1 (-)	0.1 ± 0.3 (-50.0%)	106.1 ± 0.1 (+1.1%)	35.3 (+0.9%)
ReBRAC	0.0 ± 0.0	0.2 ± 0.3	104.9 ± 2.2	35.0
Table 39: ReBRAC ablations for hammer tasks. We report final normalized score averaged over 4 unseen training seeds.
Ablation	human	cloned	expert	Average
TD3+BC, paper	0.0	0.0	0.0	0.0
TD3+BC, our	0.3 ± 0.4	1.1 ± 1.1	127.0 ± 0.4	42.8
TD3+BC, tuned	0.3 ± 0.4 (+50.0%)	1.1 ± 1.1 (-80.0%)	127.0 ± 0.4 (-5.3%)	42.8 (-8.1%)
ReBRAC w/o LN	0.2 ± 0.0 (0.0%)	1.0 ± 1.0 (-81.8%)	9.9 ± 19.1 (-92.6%)	3.6 (-92.3%)
ReBRAC w/o layer	0.1 ± 0.0 (-50.0%)	21.3 ± 19.7 (+287.3%)	133.1 ± 0.5 (-0.8%)	51.5 (+10.5%)
ReBRAC w/o actor penalty	0.0 ± 0.0 (-100.0%)	0.0 ± 0.1 (-100.0%)	0.0 ± 0.1 (-100.0%)	0.0 (-100.0%)
ReBRAC w/o critic penalty	0.1 ± 0.1 (-50.0%)	1.9 ± 0.7 (-65.5%)	134.1 ± 0.2 (-0.1%)	45.3 (-2.8%)
ReBRAC w large batch	0.3 ± 0.8 (+50.0%)	10.6 ± 14.0 (+92.7%)	133.4 ± 0.5 (-0.6%)	48.1 (+3.2%)
ReBRAC	0.2 ± 0.2	5.5 ± 2.5	134.2 ± 0.4	46.6
Table 40: ReBRAC ablations for relocate tasks. We report final normalized score averaged over 4 unseen training seeds.
Ablation	human	cloned	expert	Average
TD3+BC, paper	0.0	0.0	0.0	0.0
TD3+BC, our	0.0 ± 0.0	-0.1 ± 0.0	107.9 ± 0.6	35.9
TD3+BC, tuned	0.0 ± 0.0 (-)	-0.1 ± 0.0 (-105.3%)	107.9 ± 0.6 (+1.2%)	35.9 (-0.5%)
ReBRAC w/o LN	-0.2 ± 0.0 (-)	0.0 ± 0.3 (-100.0%)	-0.1 ± 0.0 (-100.1%)	-0.1 (-100.3%)
ReBRAC w/o layer	0.1 ± 0.3 (-)	1.7 ± 2.1 (-10.5%)	105.0 ± 3.1 (-1.5%)	35.6 (-1.4%)
ReBRAC w/o actor penalty	-0.1 ± 0.0 (-)	0.0 ± 0.0 (-100.0%)	-0.1 ± 0.1 (-100.1%)	0.0 (-100.0%)
ReBRAC w/o critic penalty	0.0 ± 0.1 (-)	1.9 ± 1.9 (0.0%)	109.6 ± 1.2 (+2.8%)	37.1 (+2.8%)
ReBRAC w large batch	0.0 ± 0.0 (-)	0.1 ± 0.2 (-94.7%)	109.6 ± 0.9 (+2.8%)	36.5 (+1.1%)
ReBRAC	0.0 ± 0.0	1.9 ± 2.3	106.6 ± 3.1	36.1